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    <meta name="description" content="本文大概总结了下对mavlink协议的理解：【1】包括mavlink消息帧介绍；【2】帮助你轻松看懂官网mavlink消息说明；【3】介绍飞行器和地面站之间的通讯过程；【4】帮助你看懂mavlink代码和流程；这篇博客是第一章，讲了【1】的内容，后续内容马上奉上。" />
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        <span class="link_title"><a href="/super_mice/article/details/44836585">
        Mavlink协议理解Pixhawk APM（一）
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    <span class="link_postdate">2015-04-02 20:04</span>
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<div class="tag2box"><a href='http://www.csdn.net/tag/mavlink' target=_blank onclick="_gaq.push(['_trackEvent','function', 'onclick', 'blog_articles_tag']);">mavlink</a><a href='http://www.csdn.net/tag/PIXHAWK' target=_blank onclick="_gaq.push(['_trackEvent','function', 'onclick', 'blog_articles_tag']);">PIXHAWK</a><a href='http://www.csdn.net/tag/APM' target=_blank onclick="_gaq.push(['_trackEvent','function', 'onclick', 'blog_articles_tag']);">APM</a><a href='http://www.csdn.net/tag/%e5%9b%9b%e6%97%8b%e7%bf%bc' target=_blank onclick="_gaq.push(['_trackEvent','function', 'onclick', 'blog_articles_tag']);">四旋翼</a></div>

  
    
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<p><span style="white-space:pre"></span><span style="white-space:pre"></span><span style="white-space:pre"></span><span style="white-space:pre"></span><span style="font-size:18px; color:#660000">有问题请回复评论，然后邮箱提醒我回复，550746284@qq.com 私信不回。。。</span></p>
<p><span style="font-size:24px">本系列博客共三篇，这是第一篇。</span><br>
</p>
<p>之前看了mavlink协议，网上关于mavlink的资料不多。本文大概总结了下对mavlink协议的理解。以下如不说明都是说mavlink v1.0版本。</p>
<p><span style="white-space:pre"></span><span style="white-space:pre"></span><span style="white-space:pre"></span><span style="white-space:pre"></span>首先附上mavlink的各个消息的简介<a target="_blank" target="_blank" href="https://pixhawk.ethz.ch/mavlink/">https://pixhawk.ethz.ch/mavlink/</a>（这里的内容很多，建议大概了解mavlink后再去浏览），mavlink协议介绍<a target="_blank" target="_blank" href="http://qgroundcontrol.org/mavlink/start">http://qgroundcontrol.org/mavlink/start</a></p>
<p><span style="white-space:pre"></span><span style="white-space:pre"></span><span style="white-space:pre"></span>之后会在我的资源里上传一份为初学者准备的mavlink资料（转载）<span style="color:#ff00">已经上传至笔者资源，免费下载</span>。<a target="_blank" target="_blank" href="http://download.csdn.net/detail/super_mice/8559485">mavlink
 纯小白教程(英文)</a>它用通俗的说法帮助新人理解什么是mavlink，mavlink能干嘛等等。资料只有第一部分，第二部分笔者没有找到（可能是原作者没继续第二部分吧）。</p>
<p><br>
</p>
<p><span style="white-space:pre"></span><span style="white-space:pre"></span><span style="white-space:pre"></span><span style="white-space:pre"></span>先简单介绍下mavlink协议。Mavlink协议最早由&nbsp;苏黎世联邦理工学院 计算机视觉与几何实验组 的&nbsp;<a target="_blank" target="_blank" href="http://www.inf.ethz.ch/personal/lomeier/">Lorenz
 Meier</a>&nbsp;于2009年发布，并遵循LGPL开源协议。Mavlink协议是在串口通讯基础上的一种更高层的开源通讯协议，主要应用在微型飞行器（micro aerial vehicle）的通讯上。Mavlink是为小型飞行器和地面站（或者其他飞行器）通讯时常常用到的那些数据制定一种发送和接收的规则并加入了校验（checksum）功能。</p>
<p><span style="white-space:pre"></span><span style="white-space:pre"></span>【1】下面开始说介绍mavlink所发送的数据结构。Mavlink传输时的基本单位是消息帧。</p>
<p><img src="http://img.blog.csdn.net/20150402204818032?watermark/2/text/aHR0cDovL2Jsb2cuY3Nkbi5uZXQvc3VwZXJfbWljZQ==/font/5a6L5L2T/fontsize/400/fill/I0JBQkFCMA==/dissolve/70/gravity/SouthEast" alt=""><br>
</p>
<p><span style="white-space:pre"><span style="white-space:pre"></span><span style="white-space:pre"></span><span style="white-space:pre"></span>如图所示</span>，每个消息帧都是上述的结构，除了灰色外，其他的&#26684;子都代表了一个字节的数据。</p>
<p><strong><span style="color:#ff0000"><span style="white-space:pre"></span><span style="white-space:pre"></span>红色</span></strong>的是起始标志位（stx），在v1.0版本中以“FE”作为起始标志。这个标志位在mavlink消息帧接收端进行消息解码时有用处。</p>
<p><strong><span style="white-space:pre"></span><span style="white-space:pre"></span>第二</strong>个&#26684;子代表的是灰色部分（payload，称作有效载荷，要用的数据在有效载荷里面）的字节长度（len），范围从0到255之间。在mavlink消息帧接收端可以用它和实际收到的有效载荷的长度比较，以验证有效载荷的长度是否正确。</p>
<p><strong><span style="white-space:pre"></span><span style="white-space:pre"></span>第三</strong>个&#26684;子代表的是本次消息帧的序号（seq），每次发完一个消息，这个字节的内容会加1，加到255后会从0重新开始。这个序号用于mavlink消息帧接收端计算消息丢失比例用的，相当于是信号强度。</p>
<p><strong><span style="white-space:pre"></span><span style="white-space:pre"></span>第四</strong>个&#26684;子代表了发送本条消息帧的设备的系统编号（sys），使用PIXHAWK刷PX4固件时默认的系统编号为1，用于mavlink消息帧接收端识别是哪个设备发来的消息。</p>
<p><strong><span style="white-space:pre"></span><span style="white-space:pre"></span>第五</strong>个&#26684;子代表了发送本条消息帧的设备的单元编号（comp），使用PIXHAWK刷PX4固件时默认的单元编号为50，用于mavlink消息帧接收端识别是设备的哪个单元发来的消息（暂时没什么用） 。</p>
<p><strong><span style="white-space:pre"></span><span style="white-space:pre"></span>第六</strong>个&#26684;子代表了有效载荷中消息包的编号（msg），注意它和序号是不同的，这个字节很重要，mavlink消息帧接收端要根据这个编号来确定有效载荷里到底放了什么消息包并根据编号选择对应的方式来处理有效载荷里的信息包。</p>
<p><span style="white-space:pre"></span><strong><span style="white-space:pre"></span>最后两</strong>个字节是16位校验位，ckb是高八位，cka是低八位。校验码由crc16算法得到，算法将整个消息（从起始位开始到有效载荷结束，还要额外加上个MAVLINK_CRC_EXTRA字节）进行crc16计算，得出一个16位的校验码。之前提到的每种有效载荷里信息包（由消息包编号来表明是哪种消息包）会对应一个MAVLINK_CRC_EXTRA，这个&nbsp;MAVLINK_CRC_EXTRA
 是由生成mavlink代码的xml文件生成的，加入这个额外的东西是为了当飞行器和地面站使用不同版本的mavlink协议时，双方计算得到的校验码会不同，这样不同版本间的mavlink协议就不会在一起正常工作，避免了由于不同版本间通讯时带来的重大潜在问题。</p>
<p><span style="white-space:pre"></span><u><span style="font-size:18px">为了方便叙述，<strong>消息包</strong>将称作<span style="color:#ff00">包，包</span>所代表的信息称作<span style="color:#ff00">消息</span>。上图中的<strong>sys</strong>将称为<strong><span style="color:#ff0000">sysid</span></strong>，<strong>comp</strong>将称为<strong><span style="color:#ff0000">compid</span></strong>，<strong>msg</strong>将称为<span style="color:#ff00">msgid</span>。</span></u></p>
<p><span style="white-space:pre"></span>官方的介绍如下图：</p>
<p><img src="http://img.blog.csdn.net/20150402224533520?watermark/2/text/aHR0cDovL2Jsb2cuY3Nkbi5uZXQvc3VwZXJfbWljZQ==/font/5a6L5L2T/fontsize/400/fill/I0JBQkFCMA==/dissolve/70/gravity/SouthEast" alt=""><br>
</p>
<p><img src="http://img.blog.csdn.net/20150402224641816?watermark/2/text/aHR0cDovL2Jsb2cuY3Nkbi5uZXQvc3VwZXJfbWljZQ==/font/5a6L5L2T/fontsize/400/fill/I0JBQkFCMA==/dissolve/70/gravity/SouthEast" alt=""><br>
</p>
<p>由于图片上传量到达上限，将在接下去的博客中继续介绍mavlink协议。下节主要介绍mavlink里消息的种类和如何看懂开始时提到的那个官方的mavlink消息介绍。</p>
<p><span style="white-space:pre"></span><br>
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         <a href="/super_mice/article/details/45619945#comments">四轴飞行器 四元数和欧拉角的关系 与 姿态解算</a>
    <p style="margin:0px;"><a href="/super_mice" class="user_name">super_mice</a>:
已经将飞控源码上传.写的很乱,仅供参考.
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         <a href="/super_mice/article/details/45619945#comments">四轴飞行器 四元数和欧拉角的关系 与 姿态解算</a>
    <p style="margin:0px;"><a href="/super_mice" class="user_name">super_mice</a>:
@csdn421:我不是很了解那个dmp，只记得dmp是每次上电以后会对mpu6050重新刷固件，然...
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         <a href="/super_mice/article/details/45619945#comments">四轴飞行器 四元数和欧拉角的关系 与 姿态解算</a>
    <p style="margin:0px;"><a href="/csdn421" class="user_name">csdn421</a>:
DMP的工作流程是什么？要怎么读取四元数？
    </p>
    </li>
    <li>
   
         <a href="/super_mice/article/details/45619945#comments">四轴飞行器 四元数和欧拉角的关系 与 姿态解算</a>
    <p style="margin:0px;"><a href="/super_mice" class="user_name">super_mice</a>:
@csdn421:DMP的430例程已经上传，大家可以移植到自己的单片机上。http://downl...
    </p>
    </li>
    <li>
   
         <a href="/super_mice/article/details/45619945#comments">四轴飞行器 四元数和欧拉角的关系 与 姿态解算</a>
    <p style="margin:0px;"><a href="/csdn421" class="user_name">csdn421</a>:
楼主，我们在DMP获取四元数的时候遇到了一点问题，就是网上的库已经下下来了，但是库到底怎么使用，还是...
    </p>
    </li>
    <li>
   
         <a href="/super_mice/article/details/45619945#comments">四轴飞行器 四元数和欧拉角的关系 与 姿态解算</a>
    <p style="margin:0px;"><a href="/super_mice" class="user_name">super_mice</a>:
你能够读取6050的数据了吗？我上传一个430用DMP的例程，把底层的I2c改成你自己的，移植到你的...
    </p>
    </li>
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         <a href="/super_mice/article/details/45619945#comments">四轴飞行器 四元数和欧拉角的关系 与 姿态解算</a>
    <p style="margin:0px;"><a href="/csdn421" class="user_name">csdn421</a>:
请问楼主DMP怎么获取四元数，求教具体步骤，网上的库已经下下来了，但是不知道怎么操作。。。。
    </p>
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         <a href="/super_mice/article/details/38436723#comments">四旋翼飞行器Quadrotor飞控之  PID调节（参考APM程序）</a>
    <p style="margin:0px;"><a href="/super_mice" class="user_name">super_mice</a>:
@Alone_1314:源码已经上传,apm3.1.0的源码http://download.csdn...
    </p>
    </li>
    <li>
   
         <a href="/super_mice/article/details/38436723#comments">四旋翼飞行器Quadrotor飞控之  PID调节（参考APM程序）</a>
    <p style="margin:0px;"><a href="/super_mice" class="user_name">super_mice</a>:
@super_mice:apm源码已经上传
    </p>
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         <a href="/super_mice/article/details/38436723#comments">四旋翼飞行器Quadrotor飞控之  PID调节（参考APM程序）</a>
    <p style="margin:0px;"><a href="/super_mice" class="user_name">super_mice</a>:
@Alone_1314:源码已经上传,apm3.1.0的源码http://download.csdn...
    </p>
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